CN117355279A

CN117355279A - Robot system

Info

Publication number: CN117355279A
Application number: CN202280030944.6A
Authority: CN
Inventors: 国师弘树; 笠秀行
Original assignee: Kawasaki Jukogyo KK
Current assignee: Kawasaki Motors Ltd
Priority date: 2021-04-26
Filing date: 2022-04-25
Publication date: 2024-01-05
Also published as: WO2022230826A1; JPWO2022230826A1

Abstract

The robot system (100) is provided with: a slave robot (10); a master robot (20) that remotely operates the slave robots; and an elbow guide mechanism (40) that includes an elbow support portion (41), the elbow support portion (41) moving in a state of supporting an elbow of the operator to guide the elbow of the operator when the operator (O) operates the host robot.

Description

Robot system

Technical Field

The present invention relates to a robot system, and more particularly, to a robot system including a slave robot and a master robot.

Background

Conventionally, a robot system including a slave robot and a master robot is known. Such a robot system is disclosed in, for example, japanese patent application laid-open No. 2008-228967.

In the above japanese patent application laid-open No. 2008-228967, a master-slave manipulator system including a slave manipulator (slave robot) and a master device (master robot) is disclosed. In this master-slave manipulator system, an operator performs a surgical operation on a patient placed on an operating table by remotely operating a slave manipulator using a master device. Further, the operator operates the main apparatus in a state of sitting on a chair and placing the elbow on the elbow rest.

Prior art literature

Patent literature

Patent document 1 Japanese patent laid-open No. 2008-228967

Disclosure of Invention

However, in the master-slave manipulator system described in japanese patent application laid-open No. 2008-228967, since the operator operates the master device in a state in which the elbow is placed on the elbow rest, when the operator uses the master device to perform a linear operation of the slave manipulator, the operator needs to perform a linear operation of the slave manipulator so as to rotate the arm in front of the elbow with the elbow placed on the elbow rest as a rotation center (fulcrum). In this case, there are the following problems: since the arm is rotated about the elbow of the operator placed on the elbow rest, it is difficult to perform a correct linear operation from the manipulator.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a robot system capable of performing accurate linear operation from a robot even when an elbow of an operator is supported by an elbow support portion and work is performed by operation from the robot.

In order to achieve the above object, a robot system according to an aspect of the present disclosure includes: the slave robot, the master robot that remotely operates the slave robot, and the elbow guide mechanism include an elbow support portion that moves in a state of supporting the elbow of the operator to guide the elbow of the operator when the operator operates the master robot.

As described above, in the robot system of one aspect of the present disclosure, an elbow guide mechanism is provided, which includes an elbow support portion that moves in a state of supporting an elbow of an operator to guide the elbow of the operator when the operator operates the host robot. Thus, when the operator operates the main robot, the elbow support portion of the elbow guide mechanism is moved, whereby the elbow of the operator can be moved linearly. As a result, when the operator performs the linear operation of the slave robot using the master robot, the operator can perform the linear operation of the slave robot by linearly moving the entire elbow and the arm in front of the elbow, and therefore, it is not necessary to perform the linear operation of the slave robot so as to rotate the arm in front of the elbow with the elbow as the rotation center (fulcrum). This can prevent the rotation of the arm around the elbow of the operator from obstructing the accurate linear operation of the robot. As a result, even when the operation is performed by the slave robot while the elbow of the operator is supported by the elbow support portion, the correct straight line operation of the slave robot can be performed.

According to the present disclosure, as described above, even in the case where work is performed by the operation of the slave robot while the elbow of the operator is supported by the elbow support portion, correct straight line operation of the slave robot can be performed.

Drawings

Fig. 1 is a diagram showing a robot system according to a first embodiment.

Fig. 2 is a diagram showing sample collection by the operation of the slave robot according to the first embodiment.

Fig. 3 is a perspective view showing the host robot and the elbow guide mechanism according to the first embodiment.

Fig. 4 is a perspective view showing the elbow guide mechanism according to the first embodiment.

Fig. 5 is a perspective view showing an elbow guide mechanism in which an elbow of the operator according to the first embodiment is disposed.

Fig. 6 is a perspective view showing a host robot and an elbow guide mechanism according to the second embodiment.

Fig. 7 is a perspective view showing an elbow guide mechanism according to the second embodiment.

Fig. 8 is a perspective view showing an elbow guide mechanism in which an elbow of an operator according to the second embodiment is disposed.

Fig. 9 is a diagram showing a robot system according to a third embodiment.

Fig. 10 is a view showing a ureteroscope operation performed by the slave robot according to the third embodiment.

Fig. 11 is a diagram for explaining the operation of the hand according to the third embodiment.

Fig. 12 is a block diagram showing an elbow guide mechanism according to the third embodiment.

Detailed Description

First embodiment

As shown in fig. 1, a robot system 100 as a first embodiment includes a slave robot 10, a master robot 20, a display device 30, and an elbow guide mechanism 40.

As shown in fig. 1 and 2, the sample collection unit 101 performs a process of collecting a sample from the subject S from the robot 10. The sample collection member 101 is, for example, a sterilized cotton stick (swab). The sterilized cotton stick has a stick shape. The sample collection member 101 is inserted into the nasal cavity of the subject S from the robot 10, for example, and a sample (nasopharyngeal swab liquid) is collected from the nasopharynx of the subject S by the inserted sample collection member 101. The sample collection member 101 may be inserted into the oral cavity of the subject S from the robot 10 to collect the sample. The collected sample is subjected to virus inspection such as PCR (Polymerase Chain Reaction) inspection. In the robot system 100, since the sample collection responsible person such as a doctor does not need to perform a sample collection operation in a face-to-face relationship with the subject S, the sample collection responsible person can be isolated from the risk of infection. The sample collection unit 101 is an example of a processing unit. The subject S is an example of a subject.

As shown in fig. 1, the slave robot 10 is a vertical multi-joint robot. The slave robot 10 includes an arm 11 and a hand 12 attached to the tip of the arm 11. The arm 11 has a plurality of joints. Each of the joints of the arm 11 is provided with a driving unit such as a servomotor and an encoder and the like and a position detecting unit. The hand 12 is configured to hold the sample acquisition member 101. The hand 12 is configured to have, for example, a pair of gripping members, and to grip and hold the sample collection member 101 by the pair of gripping members.

The master robot 20 remotely operates the slave robot 10. Specifically, the master robot 20 remotely operates the slave robot 10 by an operator O such as a doctor. The main robot 20 outputs an operation instruction based on the operation of the operator O. The slave robot 10 performs an operation corresponding to the operation of the operator O in accordance with the operation command of the master robot 20. The slave robot 10 and the master robot 20 are communicably connected to each other by wire or wirelessly.

Further, as shown in fig. 1 and 3, the main robot 20 includes an operation portion 21 and an arm portion 22 that movably supports the operation portion 21. The operation unit 21 is provided for remotely operating the slave robot 10 hand 12 holding the sample collection member 101. Specifically, the operation portion 21 is a handle having a bar shape. The operation unit 21 is configured to receive an operation of the slave robot 10 by the operator O by holding and moving the operator O with one hand. The operation unit 21 is operated by, for example, the right hand of the operator O. The arm 22 has a plurality of joints, and is configured to movably support the operation section 21 in the up-down direction (Z direction), the left-right direction (Y direction), and the front-rear direction (X direction).

The slave robot 10 operates in a direction corresponding to the direction in which the operator O moves the operation unit 21. For example, when the operator O moves the operation unit 21 in the up-down direction (Z direction), the hand 12 (and the sample collection member 101 held by the hand 12) of the robot 10 moves in the up-down direction. Further, for example, when the operator O moves the operation unit 21 in the left-right direction (Y direction), the slave hand 12 (and the sample collection member 101 held by the hand 12) of the robot 10 moves in the left-right direction. Further, for example, when the operator O moves the operation unit 21 in the front-rear direction (X direction), the slave hand 12 (and the sample collection member 101 held by the hand 12) of the robot 10 moves in the front-rear direction. When collecting a sample from the subject S by the sample collecting member 101, the operator O moves the operation unit 21 forward (in the X1 direction) and moves the hand 12 of the robot 10 (and the sample collecting member 101 held by the hand 12) forward (in the insertion direction), thereby inserting the sample collecting member 101 into the nasal cavity of the subject S.

As shown in fig. 1, the display device 30 displays an image (video) of the subject S. The display device 30 displays, for example, an image of a camera (not shown) provided at the front end of the arm 11 of the robot 10 and capturing the subject S from the front, an image of a camera (not shown) capturing the subject S from the side, and the like. The operator O performs a sample collection operation of the slave subject S by the sample collection unit 101 through an operation of the slave robot 10 using the master robot 20 while checking the real-time image of the subject S displayed on the display device 30. The display device 30 includes, for example, a liquid crystal monitor.

As shown in fig. 3 to 5, the elbow guide mechanism 40 is configured to support an elbow Oa of the operator O (see fig. 5) when the operator O operates the main robot 20. The elbow guide mechanism 40 is disposed at a position near the main robot 20. The elbow guide mechanism 40 is provided independently of the host robot 20. The elbow guide mechanism 40 does not have a driving unit such as a motor.

Here, in the first embodiment, the elbow guide mechanism 40 includes an elbow support portion 41 and a placement table 42 for supporting the elbow support portion 41. When the operator O operates the main robot 20, the elbow support portion 41 moves in a state of supporting the elbow Oa of the operator O to guide the elbow Oa of the operator O (the elbow of the side holding the operation portion 21). Specifically, the elbow support 41 is configured to move linearly in a state of supporting the elbow Oa of the operator O. Specifically, in the first embodiment, the elbow support 41 is configured to move linearly in a direction (X direction) corresponding to the insertion direction of the sample collection member 101 into the subject S in a state of supporting the elbow Oa of the operator O. In the first embodiment, the elbow support portion 41 is configured to linearly move in the front-rear direction (X direction) with respect to the body of the operator O in a state of supporting the elbow Oa of the operator O. The elbow support 41 is configured to linearly move in a single horizontal direction (X direction) in a state of supporting the elbow Oa of the operator O. The term "linear movement" includes not only complete linear movement but also a wide concept of linear movement with slight shake (bending).

In the first embodiment, the elbow support portion 41 is a straight motion type capable of sliding movement. Specifically, the elbow support portion 41 includes a rail portion 411 and a slide portion 412 that slides on the rail portion 411. The rail portion 411 is provided so as to extend in a predetermined direction (X direction). The rail portion 411 is configured to engage with the slide portion 412 so that the slide portion 412 can slide in a predetermined direction. Specifically, the rail portion 411 includes an engaging portion 411a that engages with an engaging portion 412a of the slide portion 412, which will be described later. The engaging portion 411a is a concave portion recessed from above (Z1 direction side) to below (Z2 direction side). The engaging portion 411a is provided to extend in a predetermined direction from one end to the other end of the rail portion 411 in the predetermined direction.

Further, a stopper 411b that restricts the sliding movement range of the sliding portion 412 is provided at an end of the rail portion 411 in the predetermined direction (X direction). The stopper 411b is provided at one end and the other end of the rail 411 in a predetermined direction. Since the sliding movement range of the sliding portion 412 is restricted by the stopper portion 411b, even if the sliding portion 412 is slid to one end or the other end of the rail portion 411, the sliding portion 412 does not come off from the rail portion 411.

The slide portion 412 is configured to slide in a predetermined direction (X direction) on the rail portion 411. The slide portion 412 is configured to engage with the rail portion 411 so as to be slidable in a predetermined direction on the rail portion 411. Specifically, the slide portion 412 has an engaging portion 412a that engages with the engaging portion 411a of the rail portion 411. The engaging portion 412a is a convex portion protruding downward (Z2 direction side) from above (Z1 direction side). The slide portion 412 is configured to slide along the engagement portion 411a in a state where the engagement portion 412a is engaged with the engagement portion 411a of the rail portion 411. Further, the sliding portion 412 is configured to slidably move within a sliding movement range limited by the stopper 411b. Further, the sliding movement range limited by the stopper 411b is larger than the operation amount (movement amount) of the operation portion 21 corresponding to the insertion amount of the sample collection member 101 into the subject S when the sample collection member 101 collects the sample from the subject S.

Further, the sliding portion 412 is configured to support the elbow Oa of the operator O. Specifically, the sliding portion 412 has a support surface 412b for supporting the elbow Oa of the operator O. The support surface 412b is a plane substantially parallel to the horizontal direction. An elbow Oa of the operator O is placed on the support surface 412b. When the operator O moves the operation unit 21 in the X direction in a state where the elbow Oa of the operator O is placed on the support surface 412b, the sliding unit 412 slides on the rail 411 by a frictional force between the elbow Oa of the operator O and the support surface 412b so as to follow the elbow Oa of the operator O. Further, the elbow guide mechanism 40 may be provided with a fixing member such as a strap for fixing the elbow Oa of the operator O to the sliding portion 412.

The placement table 42 is configured to support the elbow support portion 41. Specifically, the placement table 42 includes a table portion 421, a column portion 422 supporting the table portion 421, and a base portion 423 supporting the column portion 422. The table portion 421 is configured to support the elbow support portion 41. The table portion 421 is provided so as to extend in a predetermined direction (X direction) along which the rail portion 411 of the elbow support portion 41 extends. The column 422 is provided so as to extend in the up-down direction (Z direction). The post 422 has a cylindrical shape. The column portion 422 is connected to the table portion 421 at an upper end and to the base portion 423 at a lower end.

The post 422 is configured to rotatably support the table 421 about a rotation axis C1 extending in the up-down direction (Z direction). Thereby, the table 421 can rotate about the rotation axis C1 with respect to the post 422. Further, by the table portion 421 rotating about the rotation axis C1, the elbow support portion 41 can rotate about the rotation axis C1. Thus, in the first embodiment, the elbow supporting portion 41 can be oriented on the placement table 42. That is, the elbow support 41 is rotatable about the rotation axis C1, so that the direction of the operation unit 21 of the main robot 20 can be adjusted on the placement table 42. The elbow supporting portion 41 and the table portion 421 are rotatable in a horizontal plane. The base 423 is provided on a setting surface (ground surface). The base 423 has a flat circular shape.

Effect of the first embodiment

In the first embodiment, the following effects can be obtained.

In the first embodiment, as described above, the elbow guide mechanism 40 is provided, which includes the elbow support portion 41, and when the operator O operates the main robot 20, the elbow support portion 41 moves in a state of supporting the elbow Oa of the operator O to guide the elbow Oa of the operator O. Thus, when the operator O operates the host robot 20, the elbow support 41 of the elbow guide mechanism 40 is moved, whereby the elbow Oa of the operator O can be linearly moved. As a result, when the operator O performs the linear operation of the slave robot 10 using the master robot 20, the operator O can perform the linear operation of the slave robot 10 by linearly moving the elbow Oa and the entire arm in front of the elbow Oa, and therefore, it is not necessary to perform the linear operation of the slave robot 10 so as to rotate the front arm from the elbow Oa with the elbow Oa as the rotation center (fulcrum). This can prevent the rotation of the arm around the elbow Oa of the operator O from obstructing the accurate linear operation of the slave robot 10. As a result, even when the work (collection of the sample) is performed by the operation of the slave robot 10 while the elbow Oa of the operator O is supported by the elbow support 41, the correct straight line operation of the slave robot 10 can be performed.

In the first embodiment, as described above, the elbow support portion 41 linearly moves in a state of supporting the elbow Oa of the operator O. Thus, when the operator O operates the host robot 20, the elbow support 41 of the elbow guide mechanism 40 is linearly moved, whereby the elbow Oa of the operator O can be easily linearly moved. As a result, the slave robot 10 can be easily operated in a correct straight line.

In the first embodiment, as described above, the elbow support 41 is linearly moved in a state of supporting the elbow Oa of the operator O at least in the direction corresponding to the insertion direction of the sample collecting member 101 into the subject S. In this way, when the insertion operation from the sample collection member 101 of the robot 10 into the subject S is performed, the rotation of the arm around the elbow Oa of the operator O as the rotation center can be suppressed, and the accurate straight line operation from the robot 10 can be prevented. As a result, the insertion operation from the accurate sample collection member 101 of the robot 10 into the subject S can be performed.

In the first embodiment, as described above, the elbow support portion 41 is linearly moved at least in the front-rear direction with respect to the body of the operator O in a state of supporting the elbow Oa of the operator O. Accordingly, when the slave robot 10 is operated to move the elbow in the front-rear direction relative to the body of the operator O (e.g., the insertion operation of the sample collection member 101 into the subject S), the accurate linear operation of the slave robot 10 can be prevented from being performed by the rotation of the arm with the elbow Oa of the operator O as the rotation center. As a result, the slave robot 10 can accurately perform an operation of moving the elbow linearly in the front-rear direction with respect to the body of the operator O.

In the first embodiment, as described above, the elbow guide mechanism 40 includes the straight elbow support portion 41 that is slidably movable. Thus, the elbow support 41 of the straight-motion type capable of sliding movement can easily linearly move the elbow Oa of the operator O and the entire arm in front of the elbow Oa. As a result, the linear operation of the slave robot 10 can be easily and accurately performed.

Further, in the first embodiment, as described above, the elbow support portion 41 of the direct-acting shape includes the rail portion 411 extending in the prescribed direction and the slide portion 412 that slides in the prescribed direction on the rail portion 411 and supports the elbow Oa of the operator O. Thus, the elbow Oa of the operator O and the entire arm in front of the elbow can be linearly moved with a simple structure in which only the slide portion 412 is slid on the rail portion 411. As a result, the linear operation of the slave robot 10 can be accurately performed with a simple configuration.

Further, in the first embodiment, as described above, the slide portion 412 is slidingly moved within the sliding movement range limited by the stopper 411b. This allows the sliding portion 412 to slide in an appropriate range without being separated from the rail portion 411.

In the first embodiment, as described above, the elbow guide mechanism 40 includes the placement table 42 that supports the elbow support 41 in the form of a straight motion. The elbow support 41 can be oriented on the placement table 42. Thus, the orientation of the elbow support 41 can be adjusted on the placement table 42, and the sliding direction (predetermined direction) of the elbow support 41 can be adjusted to a desired direction. As a result, the convenience of the elbow support 41 can be improved as compared with the case where the orientation of the elbow support 41 cannot be adjusted on the placement table 42.

Second embodiment

Next, a configuration of the robot system 200 according to the second embodiment will be described with reference to fig. 6 to 8. Unlike the first embodiment provided with the elbow guide mechanism 40, the robot system 200 is provided with the elbow guide mechanism 240. The same reference numerals are given to the same configurations as those of the first embodiment, and detailed description thereof is omitted.

As shown in fig. 6 to 8, the robot system 200 according to the second embodiment includes an elbow guide mechanism 240 instead of the elbow guide mechanism 40 according to the first embodiment. The elbow guide mechanism 240 does not have a driving unit such as a motor.

In the second embodiment, the elbow guide mechanism 240 is mounted on the main robot 20. The elbow guide mechanism 240 is an arm-type elbow guide mechanism that can move through a plurality of (3) joints. Specifically, the elbow guide mechanism 240 includes an elbow support portion 241 and an arm portion 242 for supporting the elbow support portion 241. The elbow support portion 241 is configured to support an elbow Oa of the operator O. Specifically, the elbow support portion 241 has a support surface 241a for supporting the elbow Oa of the operator O. The support surface 241a is a curved surface that is curved so as to be recessed from above (Z1 direction side) to below (Z2 direction side). An elbow Oa of the operator O is placed on the support surface 241a. The elbow guide mechanism 240 may be provided with a fixing member such as a strap for fixing the elbow Oa of the operator O to the elbow support portion 241. Further, an elbow support portion 241 is provided at the tip end of the arm portion 242.

The arm 242 is configured to support the elbow support portion 241 so as to be movable within a predetermined three-dimensional movement range. Specifically, the arm 242 is configured to support the elbow support portion 241 so as to be movable in the horizontal direction (X-direction and Y-direction) and the up-down direction (Z-direction). Specifically, the arm 242 has: a horizontal link portion 242a that enables the elbow support portion 241 to move in the horizontal direction; and a vertical movement portion 242b connected to the horizontal link portion 242a and allowing the elbow support portion 241 to move in the vertical direction. The elbow support portion 241 is connected to the up-and-down movement portion 242b. The up-and-down movement portion 242b is connected to the front end of the horizontal link portion 242 a.

The horizontal link portion 242a has three horizontal links 311, 312, and 313 each rotatable in a horizontal plane. The elbow support portion 241 can be moved in the horizontal direction by the rotation of the horizontal links 311, 312, and 313. Specifically, one end of the horizontal link 311 is connected to the base 314 via a joint, and the other end is connected to one end of the horizontal link 312 via a joint. The horizontal link 311 is configured to be rotatable about a rotation axis C11 extending in the up-down direction (Z direction) with one end portion as a rotation center. One end of the horizontal link 312 is connected to the other end of the horizontal link 311 via a joint, and the other end is connected to one end of the horizontal link 313 via a joint. The horizontal link 312 is configured to be rotatable about a rotation axis C12 extending in the up-down direction with one end portion as a rotation center. One end of the horizontal link 313 is connected to the other end of the horizontal link 312 via a joint, and the other end is connected to the up-and-down movement portion 242b. The horizontal link 313 is configured to be rotatable about a rotation axis C13 extending in the up-down direction with one end portion as a rotation center.

The up-and-down moving portion 242b is connected to the other end portion of the horizontal link 313 of the horizontal link portion 242a so as to be movable in the up-and-down direction (Z direction). The elbow supporting portion 241 can be moved in the up-down direction by the up-down movement of the up-down movement portion 242b. Specifically, the vertical movement portion 242b is connected to the other end portion of the horizontal link 313 of the horizontal link portion 242a so as to be movable in the vertical direction via a rail mechanism (not shown) extending in the vertical direction. The vertical movement portion 242b is provided with a biasing member 321 (elastic member) for biasing the vertical movement portion 242b upward (Z1 direction side). The urging member 321 is, for example, a spring member. The up-and-down moving portion 242b is configured to be movable upward by an upward urging force of the urging member 321. The up-and-down moving portion 242b is configured to be movable downward against the upward urging force of the urging member 321. Thus, when the elbow Oa of the operator O is placed on the elbow support portion 241, the up-and-down movement portion 242b is configured to move downward (Z2 direction side) against the upward (Z1 direction side) urging force of the urging member 321 by the weight of the elbow Oa of the operator O. Further, the up-and-down moving portion 242b is configured to move upward by upward biasing force of the biasing member 321 so as to follow upward movement of the elbow Oa of the operator O when the elbow Oa of the operator O placed on the elbow support portion 241 moves upward (Z1 direction side).

In the second embodiment, the elbow support portion 241 is configured to be linearly movable by being supported by the arm portion 242 including the horizontal link portion 242a and the up-down movement portion 242b. That is, the elbow support portion 241 is configured to move in a state of supporting the elbow Oa of the operator O so as to guide the elbow Oa of the operator O (the elbow on the side of the grip operation portion 21) when the operator O operates the main robot 20. Specifically, the elbow support portion 241 is configured to move linearly in a state of supporting the elbow Oa of the operator O. Specifically, in the second embodiment, the elbow support portion 241 is configured to move linearly in a state of supporting the elbow Oa of the operator O in a direction (X direction) corresponding to the insertion direction of the sample collecting member 101 into the subject S, a direction (Y and Z directions) orthogonal to the direction, and the like. In the second embodiment, the elbow support portion 241 is configured to move linearly with respect to the body of the operator O in the front-rear direction (X direction), the left-right direction (Y direction), and the up-down direction (Z direction) while supporting the elbow Oa of the operator O.

The other structures of the second embodiment are the same as those of the first embodiment.

Effect of the second embodiment

In the second embodiment, the following effects can be obtained.

In the second embodiment, as described above, the elbow guide mechanism 240 is provided, which includes the elbow support portion 241, and when the operator O operates the main robot 20, the elbow support portion 241 moves in a state of supporting the elbow Oa of the operator O to guide the elbow Oa of the operator O. As a result, even when the elbow Oa of the operator O is supported by the elbow support portion 241 and the work (sample collection) is performed by the operation of the slave robot 10, the correct linear operation of the slave robot 10 can be performed as in the first embodiment.

In the second embodiment, as described above, the elbow guide mechanism 240 is an arm-type elbow guide mechanism that can be moved by a plurality of joints. Accordingly, the elbow guide mechanism 240 of the arm type that can be moved by a plurality of joints can relatively freely move the elbow Oa of the operator O and the entire arm in front of the elbow Oa, and therefore, the elbow Oa of the operator O and the entire arm in front of the elbow Oa can be easily moved linearly. As a result, the linear operation of the slave robot 10 can be easily and accurately performed. Further, by the arm-type elbow guide mechanism 240 movable by the plurality of joints, the elbow Oa of the operator O and the whole arm in front of the elbow Oa can be relatively freely moved while the elbow support portion 241 supports the elbow Oa of the operator O, and therefore, the operation from the robot 10 can be easily performed while reducing the burden on the operator O.

In the second embodiment, as described above, the arm-type elbow guide mechanism 240 includes the arm portion 242 that supports the elbow support portion 241 so as to be movable in the horizontal direction and the up-down direction. As a result, the elbow support portion 241 can be moved in the horizontal direction and the up-down direction, and therefore the elbow Oa of the operator O and the entire arm in front of the elbow Oa can be freely moved, as compared with the case where the elbow support portion 241 can be moved only in the horizontal direction. As a result, the operation of the slave robot 10 can be performed more easily while reducing the burden on the operator O.

In the second embodiment, as described above, the arm 242 includes: a horizontal link portion 242a that enables the elbow support portion 241 to move in the horizontal direction, and an up-and-down moving portion 242b that is connected to the horizontal link portion 242a and enables the elbow support portion 241 to move in the up-and-down direction. Thus, the elbow support portion 241 can be moved in the horizontal direction by the horizontal link portion 242a, and the elbow support portion 241 can be moved in the vertical direction by the vertical movement portion 242b. As a result, the elbow Oa of the operator O and the entire arm in front of the elbow Oa can be moved in the horizontal direction and the up-down direction more easily.

In the second embodiment, the arm-type elbow guide mechanism 240 is mounted on the main robot as described above. Thus, it is not necessary to provide a separate support member for attaching the arm-type elbow guide mechanism 240 to the host robot 20. As a result, the number of components can be reduced and the structure can be simplified, and the straight line operation from the robot 10 can be accurately performed by the arm-type elbow guide mechanism 240.

Further, other effects of the second embodiment are the same as those of the first embodiment described above.

Third embodiment

Next, a configuration of a robot system 300 according to a third embodiment will be described with reference to fig. 9 to 12. Unlike the first and second embodiments described above, in which a sample is collected, the robotic system 300 performs a uroscopic operation. The same components as those of the first or second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

As shown in fig. 9, the robot system 300 according to the third embodiment includes a slave robot 310, a master robot 20, a display device 30, and an elbow guide mechanism 40.

As shown in fig. 9 and 10, the processing unit 301 performs a ureteroscope operation for crushing urinary calculi on the subject Sa (patient) from the robot 310. The processing member 301 is a flexible tube that can be bent. The treatment unit 301 is inserted from the robot 310 into the urethra of the subject Sa via the ureter guide sheath 350 previously inserted into the urethra of the subject Sa by the medical staff, and images the inside of the urethra, the urinary tract, and the like of the subject Sa. The captured image is displayed on the display device 30. The operator O performs a uroscopic operation of the subject Sa by an operation of the slave robot 310 using the master robot 20 while checking the real-time image of the subject Sa displayed on the display device 30. In the uroscopy, the calculus site of the subject Sa is specified, the calculus is broken by irradiating laser light with a laser forceps, and the calculus is recovered with a basket forceps.

Slave robot 310 is a vertical multi-joint robot. The slave robot 310 includes an arm 331 and a hand 332 attached to the tip of the arm 331. The arm 331 has a plurality of joints. Each of the joints of the arm 331 is provided with a driving unit such as a servomotor and an encoder and the like and a position detecting unit. The hand 332 is configured to hold the processing member 301 as a flexible tube. The hand 332 has a hand base 332a, a ureteroscope body 332b, and a motor 332c. The hand base 332a is mounted on the front end of the arm 331. The ureteroscope main body 332b can capture the inside of the urinary tract of the subject Sa. The ureteroscope main body 332b can be inserted into a laser forceps for crushing urinary calculi of the subject Sa and a basket forceps for recovering the urinary calculi. The ureteroscope main body 332b is configured to hold the processing member 301. The motor 332c rotates the endoscope main body 332b in the direction A4 (see fig. 11) described later.

As shown in fig. 11, the hand 332 is configured to move in a plurality of directions. Specifically, the hand 332 is configured to perform a straight motion in the front-rear direction (A1 direction) and the up-down direction (A2 direction), and to perform a rotation motion in a first rotation direction (A3 direction) around a first rotation axis extending in the front-rear direction and a second rotation direction (A4 direction) around a second rotation axis extending in the left-right direction. The front-rear direction, the left-right direction, the up-down direction, the first rotation direction, and the second rotation direction are directions based on the hand 332. When the treatment unit 301 is inserted into the urethra of the subject Sa, the hand 332 moves straight forward (in the insertion direction).

In the third embodiment, as shown in fig. 12, the elbow guide mechanism 40 includes a motor 343 capable of driving the elbow support 41, and an encoder 344 for detecting the position of the elbow support 41 by detecting the rotational position of the motor 343. The master robot 20 remotely operates the slave robot 310 based on the detection result of the encoder 344. The elbow support 41 is linearly moved in a direction corresponding to the insertion direction of the processing unit 301 into the subject Sa while supporting the elbow Oa of the operator O. The master robot 20 remotely operates the slave robot 310 based on the detection result of the linear movement of the elbow support 41 by the encoder 344. Specifically, the host robot 20 remotely operates the slave robot 310 to move the hand 332 in the A1 direction based on the detection result of the linear movement of the elbow support 41 by the encoder 344. In the third embodiment, the elbow guide mechanism 40 functions as an operation section for remotely operating the hand 332 of the slave robot 310 together with the operation section 21 of the master robot 20.

Further, although the example in which the robot system 300 includes the elbow guide mechanism 40 according to the first embodiment has been described, the robot system 300 may include the elbow guide mechanism 240 according to the second embodiment. In the case where the robot system 300 includes the elbow guide mechanism 240, each joint of the arm 242 of the elbow guide mechanism 240 includes a motor capable of driving the elbow support portion 241 and an encoder for detecting the position of the elbow support portion 241 by detecting the rotational position of the motor, and the slave robot 310 may be remotely operated by the master robot 20 based on the detection result of the encoder.

Further, other structures of the third embodiment are the same as those of the first or second embodiment described above.

Effect of the third embodiment

In the third embodiment, the following effects can be obtained.

In the third embodiment, as described above, the elbow guide mechanism 40 is provided, which includes the elbow support portion 41, and when the operator O operates the main robot 20, the elbow support portion 41 moves in a state of supporting the elbow Oa of the operator O to guide the elbow Oa of the operator O. As a result, as in the first embodiment, even when the operation (the ureteroscope operation) is performed by the operation of the slave robot 310 while the elbow Oa of the operator O is supported by the elbow support portion 41, the correct linear operation of the slave robot 310 can be performed.

In the third embodiment, as described above, the elbow guide mechanism 40 includes the encoder 344 for detecting the position of the elbow support 41, and the host robot 20 remotely operates the slave robot 310 based on the detection result of the encoder 344. As a result, the elbow guide mechanism 40 can not only simply guide but also function as an operation actuator, and thus can easily remotely operate the slave robot 310.

In the third embodiment, as described above, the elbow support portion 41 moves linearly in a state of supporting the elbow of the operator O at least in the direction corresponding to the insertion direction of the processing unit 301 into the subject Sa, and the slave robot 310 is remotely operated by the master robot 20 based on the detection result of the linear movement of the elbow support portion 41 by the encoder 344. Thus, when the insertion operation from the processing unit 301 of the robot 310 to the subject Sa is performed, the correct linear operation from the robot 310 can be easily performed.

Further, other effects of the third embodiment are the same as those of the first or second embodiment described above.

Modification example

The embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present disclosure is indicated by the claims rather than the description of the above embodiments, and all changes (modifications) that come within the meaning and range of equivalency of the claims are also intended to be embraced therein.

For example, examples were shown in the first to third embodiments described above in which the slave robot is a vertical multi-joint robot, but the present disclosure is not limited thereto. For example, the slave robot may be a robot other than a vertical multi-joint robot such as a horizontal multi-joint robot or a double-arm robot.

In the first and third embodiments, the example in which the elbow support portion of the straight motion type is configured to move linearly in the direction (front-rear direction) corresponding to the insertion direction of the sample collection member into the subject has been described, but the present disclosure is not limited thereto. For example, the elbow support portion of the straight motion type may be configured to move linearly in a direction other than the front-rear direction such as the left-right direction.

In the first and third embodiments, the straight elbow supporting portion is disposed on the placement table separately provided from the host robot, but the present disclosure is not limited to this. For example, a placement table may be provided on the host robot, and the elbow support portion of the straight motion type may be disposed on the placement table provided on the host robot.

In the first and third embodiments, the example in which the elbow support portion of the straight motion type is capable of being oriented on the placement table has been described, but the present disclosure is not limited thereto. For example, the elbow support of the straight motion type may be fixed to the placement table.

In addition, in the above-described second embodiment, an example in which the arm-type elbow guide mechanism has three joints is shown, but the present disclosure is not limited thereto. For example, the arm-type elbow guide mechanism may have two or more joints.

In addition, in the above-described second embodiment, an example in which the arm portion has the horizontal link portion and the up-down moving portion is shown, but the present disclosure is not limited thereto. For example, the arm portion may have only the horizontal link portion. That is, the arm portion may be configured to support the elbow support portion so as to be movable only in the horizontal direction.

In addition, in the above-described second embodiment, an example in which the arm portion has the horizontal link portion is shown, but the present disclosure is not limited thereto. For example, the arm portion may also have a link portion including one or more links rotatable in a horizontal plane and one or more links rotatable in a vertical plane.

In addition, in the above-described second embodiment, an example in which the arm-type elbow guide mechanism is mounted on the main robot is shown, but the present disclosure is not limited thereto. For example, the arm-type elbow guide mechanism may be mounted on a support member that is provided separately from the host robot.

In the first and second embodiments, the example in which the robot system collects a sample from a subject by the sample collection member (inspection tool) is shown, but the present disclosure is not limited thereto. For example, the robot system may be a robot system that performs examination of a subject (patient) with an examination tool (processing unit) for examination.

In the third embodiment, the position detecting unit for detecting the position of the elbow supporting unit of the elbow guide mechanism is shown as an example of the encoder, but the present disclosure is not limited thereto. For example, the position detecting unit for detecting the position of the elbow supporting unit of the elbow guide mechanism may be a position detecting unit other than the encoder. In addition, in the case where the position detecting unit is a position detecting unit other than an encoder, the elbow guide mechanism may not include a motor.

In the first and second embodiments, the example of performing the process of collecting the sample from the subject is shown, and in the third embodiment, the example of performing the process of performing the ureteroscope operation of the subject is shown, but the present disclosure is not limited thereto. For example, a process other than the process of collecting a sample from the subject and the process of performing the ureteroscope operation of the subject may be performed. Further, the treatment is a broad concept including collecting a sample from a subject, performing an examination of the subject, performing an operation of the subject, and the like.

Description of the reference numerals

10. 310 slave robot

20. Main robot

40. 240 elbow guiding mechanism

41. 241 elbow support

42. Placing table

100. 200, 300 robot system

101 sample collection member (processing member)

242 arm

242a horizontal link portion

242b up-and-down moving part

301. Processing component

411. Track part

411b stop part

412. Sliding part

O operator

S subject (subject)

Sa processed person

Claims

1. A robot system, comprising:

a slave robot;

a master robot that remotely operates the slave robot; and

an elbow guide mechanism including an elbow supporting portion that moves in a state of supporting an elbow of an operator to guide the elbow of the operator when the operator operates the host robot.

2. The robotic system as set forth in claim 1 wherein,

the elbow supporting portion moves linearly in a state of supporting the elbow of the operator.

3. The robotic system as set forth in claim 2 wherein,

the elbow support portion is linearly movable in a state of supporting the elbow of the operator at least in a direction corresponding to a direction in which the treatment member is inserted into the person to be treated.

4. The robotic system as set forth in claim 2 wherein,

the elbow supporting portion moves linearly with respect to the body of the operator at least in the front-rear direction in a state of supporting the elbow of the operator.

5. The robotic system as set forth in claim 1 wherein,

the elbow guide mechanism includes the elbow support portion in a slidably movable straight motion.

6. The robotic system as set forth in claim 5 wherein,

the elbow supporting portion of the direct-acting shape includes: a rail portion extending in a predetermined direction; and a sliding portion that slides on the rail portion in the predetermined direction and supports an elbow of the operator.

7. The robotic system as set forth in claim 6 wherein,

the sliding portion moves slidingly within a sliding movement range limited by the stopper portion.

8. The robotic system as set forth in claim 5 wherein,

the elbow guide mechanism further comprises a placement table for supporting the elbow supporting portion in a straight motion,

the elbow support is adjustable in orientation on the placement table.

9. The robotic system as set forth in claim 1 wherein,

the elbow guide mechanism is an arm-type elbow guide mechanism that can be moved by a plurality of joints.

10. The robotic system as set forth in claim 9 wherein,

the arm-type elbow guide mechanism includes an arm portion that supports the elbow support portion so as to be movable in a horizontal direction and an up-down direction.

11. The robotic system as set forth in claim 10 wherein,

the arm portion has: a horizontal link portion that enables the elbow support portion to move in the horizontal direction; and a vertical movement portion that is connected to the horizontal link portion and that enables the elbow support portion to move in the vertical direction.

12. The robotic system as set forth in claim 9 wherein,

the arm-type elbow guide mechanism is mounted on the host robot.

13. The robotic system as set forth in claim 1 wherein,

the elbow guide mechanism includes a position detecting portion for detecting a position of the elbow supporting portion,

the master robot remotely operates the slave robot according to the detection result of the position detection unit.

14. The robotic system as set forth in claim 13 wherein,

the elbow supporting part moves linearly in a state of supporting the elbow of the operator at least in a direction corresponding to the direction in which the treating member is inserted into the treated person,

the master robot remotely operates the slave robot based on a result of detection of the linear movement of the elbow support by the position detection unit.